Sliding mode controller-observer design for multivariable linear systems with unmatched uncertainty
This paper presents sufficient conditions for the sliding mode control of a system with disturbance input. The behaviour of the sliding dynamics in the presence of unmatched uncertainty is also studied. When a certain sufficient condition on the gain feedback matrix of the discontinuous controller and the disturbance bound holds, then the disturbance does not affect the sliding system. The design of asymptotically stable sliding observers for linear multivariable systems is presented. A sliding...